Abstract: A system and method for providing steering control for lane changing and lane centering purposes in an autonomous or semi-autonomous vehicle system. A vehicle vision system calculates roadway lane marking information, such as lateral offset, yaw angle and roadway curvature with respect to the vehicle's centered coordinate system. The roadway is then modeled as a second order polynomial equation. The method then predicts roadway lateral position and yaw angle over a pre-defined lane change completion time using a vehicle dynamic model. The method then compares a predicted vehicle path with a desired vehicle path to generate an error value, and calculates a steering angle command to minimize the error value, where the steering angle command is calculated as a function of vehicle lateral position, vehicle lateral speed, vehicle yaw rate and vehicle yaw angle. The steering angle command is then sent to the vehicle steering system.

Abstract: An image processing system and the like capable of recognizing a lane mark in a road image with high accuracy are provided even if a light illumination state on a road surface is partially different. According to the image processing system (100) mounted on a vehicle (10), a color component (Rij, Gij, Bij) of the first pixel (Pij) included in an area (Aij) set in the road image is corrected with reference to a color component (Rik, Gik, Bik) of a second pixel (Pik) in view of a fact that it is highly probable that the color component of the second pixel included in the area along with the first pixel is affected by a shadow or light on the road surface. This reduces the effect of the shadow or light on the road surface and the actual color of a road surface portion corresponding to the first pixel can be sufficiently reflected in the color components (Rij, Gij, Bij) of the first pixel (Pij) and consequently in a feature value (Qij).

Abstract: An autonomous controller for a vehicle. The controller has a processor configured to receive position signals from position sensors and to generate operation control signals defining an updated travel path for the vehicle. The controller has a programmable interface providing communication among the position sensors, the operation control mechanisms, and the processor. The controller is configured to normalize inputs to the processor from the position sensors and to generate compatible operation control signals applied as the inputs to the operation control mechanisms. The processor and the programmable interface define a self-contained unit configurable for operation with a variety of different remote sensors and different remote operation control mechanisms.

Abstract: A system for launching, controlling and delivering in a preselected target pattern a plurality of low-cost, guided fire-retardant-containing vehicles, i.e., “smart water bombs” equipped with control surfaces sufficient to provide limited lift and maneuverability to respond to guidance command to place it at a selected GPS coordinate within a large footprint in time and space and to discharge its payload of fire retardant at a preselectable altitude in a very precise manner and dispersion pattern. A controller determines bombing patterns and timing for all bombs and trajectories for each guided bomb. Dynamic differential equations are used to determine location and time of release of the guided bombs to achieve the target while avoiding collisions among guided bombs and aircraft.

Abstract: A control system controls a pair of vehicles in coordination to traverse a respective pair of trajectories. The control system is configured to specify a plurality of successive waypoints, a safe stopping interval and an intermediate interval greater than the safe stopping interval, and exchange waypoints between vehicles. The system controls each vehicle in coordination with the other, senses a rate of exchange of waypoint data between the vehicles, and determines the safe stopping interval. The control system updates positions with additional waypoints as the respective vehicles pass by waypoints of the forecasted trajectory, determines the length of the forecasted trajectory remaining and compares it with the intermediate interval and the safe stopping interval. The system generates a warning signal if distance is less than the intermediate interval, and if the distance is less than the safe stopping interval, stops within the safe stopping interval.

Abstract: A roadgraph may include a graph network of information such as roads, lanes, intersections, and the connections between these features. The roadgraph may also include one or more zones associated with particular rules. The zones may include locations where driving is typically challenging such as merges, construction zones, or other obstacles. In one example, the rules may require an autonomous vehicle to alert a driver that the vehicle is approaching a zone. The vehicle may thus require a driver to take control of steering, acceleration, deceleration, etc. In another example, the zones may be designated by a driver and may be broadcast to other nearby vehicles, for example using a radio link or other network such that other vehicles may be able to observer the same rule at the same location or at least notify the other vehicle's drivers that another driver felt the location was unsafe for autonomous driving.

Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

Abstract: The system includes a road scenario sensor, a vehicle control unit, and a computer processing unit. The road scenario sensor detects upcoming road scenarios for the system vehicle. The computer processing unit receives an input from the road scenario sensor and determines a upcoming driving event based upon the detected upcoming road scenarios. The computer processing unit compares the upcoming driving event with an ideal emissions model having acceptable emission thresholds to determine an adaptive driving strategy. The adaptive driving strategy configures the system vehicle to reduce emissions for the upcoming driving event. The adaptive driving strategy optionally includes an optimal acceleration rate and/or an optimal power management strategy. The optimal acceleration rate is based upon the required speed of the vehicle at the upcoming driving event and the distance from the vehicle to the upcoming driving event, and the ideal emissions model having acceptable emission thresholds.

Abstract: A parking assisting device is equipped with a imaging device (1), a gaze position determining sections (3, 11), target parking position setting sections (1, 11), and a parking assisting section (2). The imaging device (1) takes images of surrounding of a vehicle. The gaze position determining sections (3, 11) determine positions at which a driver gazes. The target parking position setting sections (1, 11) sets target parking positions based on images taken by the imaging device (1) and gaze positions determined by the gaze position determining section (11). The parking assisting section (2) assists in processing to park the vehicle at the set target parking position.

Abstract: An automatic veering structure for a floor cleaning apparatus comprises a driving wheel set to control moving direction of the floor cleaning apparatus, an auxiliary wheel set and a buffer module. It also has a detection module to detect whether the auxiliary wheel set is suspended in the air and whether the buffer module bumps into an obstacle, then output a first detection signal and a second detection signal to a control module to determine whether to trigger the driving wheel set to drive the floor cleaning apparatus to veer to prevent the floor cleaning apparatus from suspending and falling, or stopping moving when encounters the obstacle. Thus the lifespan of the floor cleaning apparatus is lengthened and cleaning efficiency improves.

Abstract: A method is disclosed that resolves a long-standing seafaring problem of how close to the wind to sail. Sailboats need a convenient way to determine the optimal heading to minimize the Tacking Time to Destination (TTD). Unlike Velocity Made Good (VMG), the method disclosed here allows route planning before the trip, predicts travel time on different points of sail, allows comparison of the optimal tacking routes, and also plots the different routes so that it is inherently obvious that a particular tacking angle is longer and more off-course but will arrive sooner because of the speed on that heading. These principles can be implemented with manual dials that define the distance and speed, to calculate the relative or actual travel time on a leg without using electronics. Software is also described that visually illustrates the current and optimal headings by calculating Tacking Time to Destination before departure.

Abstract: An automatic guided vehicle and a method for drive control enable setting the vehicle alongside a conveyor with high accuracy in stopping at a task address. An automatic guided vehicle includes photoelectric sensors which detect the presence of an article by projecting light to a reflecting plate arranged on a conveyor and receiving signal light reflected from the reflecting plate and are arranged in one at each of the front and rear portions of the automatic guided vehicle, and a unit for detecting the distance between the vehicle and the conveyor. When both the photoelectric sensors arranged at the front and read portions of the side surface of the vehicle, a steering vehicle is steered toward the conveyor, and the automatic guided vehicle is driven toward the conveyor until the distance between the vehicle and the conveyor becomes within a predetermined distance.

Abstract: A method and system for managing the turning of a vehicle comprises establishing a boundary of a work area. A location-determining receiver determines an observed position and velocity of the vehicle in the work area. An estimator estimates a first duration from an observed time when the vehicle will intercept the boundary based on determined position and velocity of the vehicle. An alert generator generates an alert during a second duration from the observed time. The second duration is less than or approximately equal to the first duration. An operator interface allows an operator to enter a command to control a path of the vehicle prior to or at the boundary.

Abstract: The invention provides a method for identification of traffic lane boundary. Firstly the microwave signal is received, and the noise reduction is treated for the microwave signal. Then the frequency domain information is employed to calculate the legal set of closed interval, in order to form the frequency span information. Finally, the probability density function model is employed to calculate the frequency span information in order to identify the traffic lane boundary.

Abstract: A system of self-organizing mobile robotic agents (MRAs) in a multi-robotic system (MRS) is disclosed. The MRAs use simulations to organize the behaviors of groups of robots in the MRS. The MRAs use software agents to model the MRS and the environment. By developing simulations of environmental change, the system provides methods for the MRS to interact with its environment to produce collective epigenetic behaviors.

Abstract: A robotic transportation device may include a device body, two docking arms, and a controller module. The device body may include at least one motorized wheel, and the two docking arms may include an adjustable wheel locking device. The two docking arms may extend horizontally from the device body and may be adjustable along first and second directions. The adjustable wheel locking devices comprise two adjustable wheel stops extending laterally from the docking arm. The controller module may cause the robotic transportation device to autonomously approach a target device, detect a device type, and adjust a position of the two docking arms and the two wheel stops in accordance with the device type. The controller module may move each adjustable wheel locking device under a target wheel of the target device to lock and lift the target wheels, and cause the robotic transportation device to autonomously transport the target device.

Abstract: A robotic mower boundary coverage system includes a vehicle control unit on the robotic mower commanding a traction drive system to drive the robotic mower at a specified yaw angle with respect to a boundary wire, and a boundary sensor on the robotic mower signaling the distance between the boundary wire and the vehicle control unit. The vehicle control unit alternates commands to direct the traction drive system toward and away from the boundary wire based on the distance of the robotic mower to the boundary wire.

Abstract: A robotic mower area coverage system includes a load sensor on the robotic mower signaling load on a cutting blade motor, a boundary sensor on the robotic mower indicating the distance from the sensor to a boundary wire, a timer on the robotic mower indicating when the robotic mower last used a specified boundary coverage, and a vehicle control unit on the robotic mower selecting the type of area coverage based on input from the load sensor, the boundary sensor and the timer, and commanding a pair of traction drive motors to drive the robotic mower using the selected type of area coverage.

Abstract: A system is provided for regulating a travel course of a machine. The system has a steering system operationally connected to at least one ground engaging device. Additionally, the system has a path generator configured to generate a path along which the machine can travel. The system also has a path tracker configured to automatically regulate the steering system to position the machine within a predetermined vicinity of an initial point on the generated path and guide the machine along the generated path.

Abstract: The method relates to autonomous flights performed by aircraft without the assistance of an aircrew and without said flights having been scheduled during mission preparation. It comprises negotiation with an air traffic control authority, of the modifications made to the flight plan so as to integrate these autonomous flights into the existing air traffic with minimum disturbance.

Abstract: The different illustrative embodiments provide a system for autonomous machine management comprising a number of autonomous machines, a number of boundaries, a conditional behavior module, and a navigation system. The number of autonomous machines is configured to perform area coverage tasks in a worksite. The number of nodes is configured to define a number of worksite areas for the worksite. The conditional behavior module is executed by a processor unit and configured to determine whether a number of conditions is met for the number of worksite areas. The navigation system is configured to operate an autonomous machine to perform the area coverage tasks and move between the number of worksite areas when the number of conditions is met.

Abstract: An on-vehicle navigation system reliably performs guidance of a necessary exiting authorized section while avoiding the guidance of a needless exiting authorized section on a plural-lane road having a normal lane and a special lane where advancing from the normal lane in a predetermined advancing authorized section and exiting to the normal lane in a predetermined exiting authorized section are authorized. After discriminating whether the vehicle is driving in the special lane of the plural-lane road based on whether a characteristic object has been detected by a characteristic object detecting section, the guidance of an exiting authorized section is avoided in the case where the vehicle deviated from a recommended route including a special lane, and the guidance of an exiting authorized section is performed in the case where the vehicle deviated from a recommended route not including a special lane and drives in a special lane.

Abstract: An improved image acquisition and processing system includes an image sensor and one or more processors that are configured to receive at least a portion of at least one image from the image sensor. The dynamic aim of the image sensor is configured as a function of at least one feature extracted from at least a portion of an image. The processors are further configured to generate at least one vehicle equipment control signal as a function of the extracted feature.

Abstract: A transit information provision device includes a transit event information acquiring unit which acquires transit event information; a transit information provision unit which provides the transit information to a user; a position information extraction unit which successively extracts position information which indicates a present position of the user; a route acceptance unit which accepts an anticipated movement route for the user; a detour traveling judgment unit which judges whether or not the user has traveled along the anticipated movement route; and a transit information provision rule calculation unit operable to calculate a rule for providing the transit information using transit event information when it is judged, by the detour traveling judgment unit that the user has traveled along the anticipated movement route, and transit event information when the user is judged to have detoured by the detour traveling judgment unit.

Abstract: Provided are a method, apparatus, and medium for building a grid map in a mobile robot and a method, apparatus, and medium for cell decomposition using the grid map building method and apparatus. A mobile robot for building a grid map includes a grid map building unit obtaining grid points by sensing a distance to an external space or obstacle, and building a grid map, a feature point extraction unit extracting feature points from the grid points, a feature point update unit estimating the pose of the robot after the robot moves, and obtaining updated feature points by SLAM (Simultaneous Localization And Map building) algorithm, a transform formula calculation unit calculating a transform formula that transforms feature points extracted by the feature point extraction unit into feature points updated by the feature point update unit, and a grid map update unit updating the grid map according to the obtained formula.

Abstract: Map updating systems, methods, and programs that store map information, including one or more pieces of difference update information, obtain the one or more pieces of difference update information used for updating a part of the map information to a new piece of map information, update the map information based on the one or more pieces of difference update information, and obtain total update information used for updating an entirety of the map information to a new piece of map information. The systems, methods, and programs perform a total update on the map information based on the total update information, update the map information on which the total update has been performed based on the one or more pieces of difference update information, and delete the one or more pieces of difference update information from the memory after the map information is updated by the re-updating means.

Abstract: Disclosed is a method, apparatus, and medium for estimating a pose of a moving robot using a particle filter.

Abstract: Map updating systems, methods, and programs that store map information, including one or more pieces of difference update information, obtain the one or more pieces of difference update information used for updating a part of the map information, and update the map information based on the one or more pieces of difference update information. The systems, methods, and programs obtain total update information used for updating an entirety of the memory to a new piece of map information, update the map information based on the total update information, compare a version of the total update information used in the total update with each of versions of the one or more pieces of difference update information stored in the memory, extract any of the one or more pieces of difference update information judged to be newer and update the map information based on the difference update information.

Abstract: There is provided a system and methods for mitigation of the potential dangers to which at least a child, and passengers, are exposed to prior to, during travel and after travel, when outside and adjacent a vehicle. Potential dangers to which a child is exposed are risks associated with driving and non-driving behavior of the driver, when the child is inside and outside the vehicle, when the vehicle is driven on public roads and on private property grounds, and as a result of deficient of mistaken operation of child and passenger related devices. The system and methods require input commands into an indicator to operate equipment elements aboard the vehicle, including sensors, operable devices and alert systems, and are operative for communication with remote stations, with adjacent-driven vehicles, and with the vehicle owner.

Abstract: A method and a system for assisting steering and mooring alongside of vessels that enables operators to easily obtain physical relationship between two vessels and the states of mooring lines and fenders when the operators lay the two vessels aboard and moors them alongside for loading cargoes are provided. Physical relationship between a hull of the first vessel and a hull of the second vessel is calculated in the form of numerical data based on information on a reference position of a first vessel that is detected by a first GPS receiver, information on a reference position of a second vessel that is detected by a second GPS receiver, oscillation information on the first vessel, oscillation information on the second vessel, information on a distance between the two vessels that is measured by distance measuring device, coordinate data including hull outer shape and the like against the reference position for each vessel, and air pressure data for each fender.

Abstract: A legged vehicle includes a body, wherein the body includes a major axis corresponding to a primary direction of travel; a plurality of leg mechanisms attached to the body, wherein each leg is attached at its proximal end at one or more discrete attachment points, wherein the attachment points are arranged in-line, one behind the other, with respect to the body, each of the legs including actuators attached between the legs and the body and between adjacent leg members, said legs being actuated for movement of a distal end in three dimensions; a control system in communication with the leg mechanisms to coordinate movements of the leg mechanisms according to approximately single track foot placement, and movement of the legged vehicle in three dimensions over the ground; and a power source connected to and driving the control system components and the plurality of actuators and joints which drive the legs.

Abstract: A method for mapping a motion of a first object within a first motion path defined by a path planner based on a second motion path of a second object. The method includes creating the first motion path for the first object using the path planner, initializing a start position of the first object within the first motion path, determining a value for an initial condition for each segment of a plurality of segments in the first motion path created by the path planner, and calculating an elapsed time between a current sample call time to the path planner and a last sample call time to the path planner.

Abstract: A system and method for generating lateral guidance image data and presenting information representative of the image data is disclosed. A system is disclosed for determining lateral guidance information based upon the elevation of terrain cells and a level of terrain threat associated with the elevation. A left or right turn angle, or both could be formed between a projected flight path and a vector extending to a tangent point of a terrain boundary to the left and right, respectively. The degree of angle could be determined for each, and lateral guidance image data based upon the boundary location of a level of terrain threat with respect to the projected flight path determined. A lateral processor provides an alert signal associated with the generation of the lateral guidance information and provide such signal to a crew visual and aural alerting system.

Abstract: A navigation device has a route re-calculation function. This is activated by the user touching the screen to task away from the normal navigation map mode to a menu screen which displays multiple types of route re-calculation options.

Abstract: A system and method for positioning a mobile machine, such as a robot, using a tether line connected between two mobile machines. A first mobile machine, such as a boundary vehicle, is controlled to move along a path, such as a boundary defining an area. The first machine employs a localization device to determine and maintain its position on the path. A tether line is connected between the boundary vehicle and a second mobile machine, such as a roving vehicle. The first machine determines the position of the second machine relative to the first machine from a length of extension and angle of the tether line. The first machine controls movement of the second machine to perform a task or mission, such as a task performed in the area defined by the boundary.

Abstract: A method of detecting a changed condition within a geographical space from a moving vehicle. Images of that geographic space are memorialized in conjunction with GPS coordinates together with its GPS coordinates. The same geographic space is traversed from the moving vehicle while accessing the route's GPS coordinates. The memorialized images are played back by coordinating the GPS data on a memorialized images with that of the traversed geographic space such that the memorialized images are viewed simultaneously with the geographic space being traversed. An observer traveling within the moving vehicle can compare the memorialized images with those being traversed in order to identify changed conditions.

Abstract: A GNSS-based contour guidance path selection system for guiding a piece of equipment through an operation, such as navigating a guide path, includes a processor programmed for locking onto a particular aspect of the operation, such as deviating from a pre-planned or original guidance pattern and locking the guidance system onto a new route guide path, while ignoring other guidance paths. The system gives a vehicle operator control over a guidance route without the need to re-plan a pre-planned route. The device corrects conflicting signal issues arising when new swaths result in the guidance system receiving conflicting directions of guidance where the new swaths cross predefined swaths. An operator can either manually, or with an autosteer subsystem automatically, maintain a new contour guidance pattern, even while crossing predefined guidance paths that would otherwise divert the vehicle.

Abstract: The method relates to autonomous flights performed by aircraft without the assistance of an aircrew and without said flights having been scheduled during mission preparation. It comprises negotiation with an air traffic control authority, of the modifications made to the flight plan so as to integrate these autonomous flights into the existing air traffic with minimum disturbance.

Abstract: A method and system for automatically loading and unloading a transport is disclosed. A guidance system follows a travel path to a position near the transport and then a sensor profiles a transport so that a transport path is determined for an AGV to follow into the transport to place a load and for exiting the transport upon placement of the load.

Abstract: A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.

Abstract: A method to generate a clearance request to deviate from a flight plan comprising receiving input from at least one flight-plan-relevant source, determining a revised flight route based on the received input, and generating a preconfigured clearance request message to deviate from the flight plan for a user based on the determining. The method further comprises prompting the user for one of approval and rejection of the clearance request to deviate from the flight plan. The preconfigured clearance request message is downlinked when an approval of the clearance request to deviate from the flight plan is received from the user.

Abstract: The guided travel control method and guided travel control apparatus capable of creating a traveling course by teaching only target earth unloading points, without traveling through all passage points of the traveling course, prior to the guided traveling, when each traveling course to each target earth unloading point is taught, thereby increasing the efficiency of teaching operation and also increasing the operation efficiency. In the invention, a corrected traveling course for guiding an unmanned vehicle is created based on a hopper detour area, a corrected target earth unloading position, and a target movement direction in a target earth unloading position such that the unmanned vehicle moves in the target movement direction to the corrected target earth unloading position without interfering with the hopper detour area, then the unmanned vehicle is guided to travel along the created corrected traveling course.

Abstract: Even when a first moving condition is not satisfied, when it is determined that a second moving condition is satisfied and at the same time an object belongs to a second classification, an operation of a robot is controlled so as to prompt the object to move according to a first pattern or an arbitrary pattern. The “first moving condition” is a condition that the robot is capable of moving without being obstructed by the object when the robot moves according to a current target position trajectory. The “second moving condition” is a condition that the robot is capable of moving according to the current target position trajectory without being obstructed by the object when the object is displaced according to the first pattern. The “second classification” means a classification of the object which is capable of being moved by a force from the robot acting thereon.

Abstract: A guidance system for manually guided vehicles such as reach stackers or straddle carriers is disclosed. In accordance with the disclosure, the position of the vehicles is permanently automatically detected and supplied to a guiding system for carrying out. Starting from transport job lists made available externally, the travel jobs are assigned to the individual vehicles in an optimized form. Suitable travel routes for the travel jobs are determined and the travel jobs, including the travel routes, are automatically transferred to the vehicle operators. Their carrying out is monitored.

Abstract: Performing location-aware search involves intercepting a network request targeted for an Internet-based search engine. The network request includes a location-dependent query containing a location term, and the location term cannot be used by the search engine to positively determine a target location. A location descriptor that can be used by the search engine to positively determine a target location is determined via a location database. The location database may include a location sensor such as GPS. The network request is modified to replace the location term with the location descriptor, and the modified network request is sent to the search engine.

Abstract: A moving apparatus includes a route preparing function unit, a moving function unit, an obstacle detecting function unit, an obstacle removal requesting function unit, an obstacle judging function unit, a request target detecting function unit and an obstacle selecting function unit. Here, the route preparing function unit prepares a route to a destination. The moving function unit moves along the route. The obstacle detecting function unit detects obstacles that interfere in the movement. Here, when the obstacles exist on the route, the route preparing function unit tries to prepare a different route from the route. When the different route exists, the moving function unit tries to move to the destination along the different route. The obstacle removal requesting function unit requests the outside to remove the obstacles outside the route, when the different route does not exist.

Abstract: A method used by a robot for simultaneous localization and map-building, including: initializing a pose of the robot and locations of landmarks; sampling a new pose of the robot during motion of the robot, and constructing chromosomes using the locations of the landmarks; observing the landmarks from a present location of the robot; generating offspring from the chromosomes; and selecting next-generation chromosomes from the chromosomes and the offspring using observation values of the landmarks.

Abstract: A control system is provided for automatically moving a machine along a desired path. The machine uses a “learn and follow” system in which the machine is first operated in a manual mode along a desired path. The control system learns the desired path and then operates the machine in a robotic mode to follow the desired path without operator control. If the machine moves away from the desired path when in the robotic mode, the location of the machine is corrected using GPS location signals.

Abstract: A method of moving in a minimum cost path using a grid map, and an apparatus to perform the method, the method including calculating a move cost to a goal, from each of a plurality of cells comprises in a space in which a mobile home appliance moves, and planning a movement path to the goal according to the move cost; determining one or more via points at which a direction changes on the movement path; planning the minimum cost path from the movement path by selecting one or more shortest-distance via points from the via points; and moving from a first shortest-distance via point to a second shortest-distance via point.

Abstract: A vehicle controller includes a communications unit for performing data communications with local servers; a local path generation unit for generating, in response to an automatic vehicle guidance service request, a local path based on a driving control command and sensing information received from the local servers via the communications unit; a path-following control unit for generating actuator control signals for controlling actuators of a vehicle to drive the vehicle along the local path; and a vehicle driving unit for driving the actuators according to the actuator control signals. Each local server pre-processes and merges sensor data received from the infra-sensor to generate the sensing information. A global server generates the driving control command based on the sensing information and transmits the driving control command to the local servers.